New Monitoring Mode for Deepwater Subsea Pipeline Laying and Key Underwater Wireless Optical Communication Technologies
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摘要: 针对深水海管铺设着泥点(TDP)监测中传统有线作业成本高昂、多船协同复杂及实时性差等瓶颈, 构建了基于无人船(USV)-中继器(TMS)-自主/遥控水下机器人(ARV)的一体化无缆化监测体系, 提出一种适用于深水垂向链路的水下无线光通信(UWOC)方案。针对深水异质信道光学参数随深度分层变化的特性, 建立了波长与深度耦合的垂向信道模型, 采用含HG相函数的蒙特卡洛光子追迹方法替代传统常参透过率近似, 实现了物理特性向工程参数的精准映射。在系统实现方面, 硬件采用蓝绿LED阵列二次配光与大口径光电倍增管(PMT)组合, 构建了高冗余度的“大角度发射+宽视场接收”架构; 软件层面引入基于滑动窗口统计的自适应阈值与自动增益控制, 实现了发射功率与接收灵敏度的动态协同, 显著降低了系统对高精度对准的依赖。水池验证了系统在6~20 Mbit/s速率下的对准容差与稳定性; 远海试验实现嘴大越17 m链路间距下的稳定通信及6.25 Mbit/s无误码视频回传, 验证了系统在动态平台扰动与环境光波动下的工程稳健性。研究证明, 该方案具备良好的现场迁移性, 可在无需增配多功能支援船的前提下支撑TDP持续监测, 为深水油气装备的智能化与轻量化作业提供可靠技术路径。Abstract: An integrated cable-free monitoring architecture comprising an unmanned surface vehicle(USV), a tether management system(TMS), and an autonomous/remotely operated vehicle(ARV) was developed to break through the bottlenecks of traditional wired monitoring for touchdown points(TDPs) during deepwater subsea pipeline laying, including high operation cost, complicated multi-vessel coordination and poor real-time performance. Meanwhile, an underwater wireless optical communication(UWOC) scheme applicable to deepwater vertical links was proposed. Considering the stratified variation of optical parameters with water depth in heterogeneous deepwater channels, a vertical channel model coupling wavelength and depth was built. The Monte Carlo photon tracing method with the Henyey-Greenstein(HG) phase function was adopted to replace the traditional constant transmittance approximation and thus realize accurate mapping from physical characteristics to engineering parameters. In terms of system implementation, the hardware integrates blue-green LED array with secondary light distribution and large-aperture photomultiplier tubes(PMTs), forming a highly redundant architecture of wide-angle transmission and wide field-of-view reception. At the software level, sliding window statistics-based adaptive threshold and automatic gain control were introduced to achieve dynamic coordination between transmit power and reception sensitivity, thus greatly reducing the system’s reliance on high-precision alignment. Tank tests verify the alignment tolerance and stability of the system at rates ranging from 6 Mbit/s to 20 Mbit/s. Offshore sea trials achieved stable communication over a link distance of up to approximately 17 m and error-free video backhaul at the rate of 6.25 Mbit/s, which validates the engineering robustness of the system under dynamic platform disturbance and ambient light fluctuations. It is confirmed that the proposed scheme possesses favorable field transferability. It can support continuous TDP monitoring without additional multi-purpose support vessels(MSVs), providing a reliable technical route for intelligent and lightweight operations of deepwater oil and gas equipment.
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图 1 深水海管铺设智能监测系统示意图
Figure 1. Schematic diagram of intelligent monitoring system for deepwater subsea pipeline laying
图 3 “领航者”号ARV及其结构示意图
注: 1. 超短基线水声定位系统(ultra short base line, USBL)信标; 2. 铱星信标; 3. 独立天线棒; 4. 水声通信; 5. 光通信; 6. 天线舱; 7. 舵机; 8. T561推进器; 9. T540S推进器; 10. 惯性导航系统(inertial navigation system, INS)+多普勒测速仪(Doppler velocity log, DVL); 11. 深海灯; 12. 网络摄像头。
Figure 3. “Navigator” ARV and its structural diagram
图 4 TMS及其结构示意图
注: 1. 摄像头; 2. USBL; 3. T660推进器; 4. 推进器驱动罐; 5. 控制舱; 6. 光通信; 7. 舵机; 8. 高度计; 9. 深度计; 10. 电池舱; 11. 变压舱。
Figure 4. TMS and its structure diagram
图 5 光通信 LED 阵列光源建模与水下辐照特性仿真结果
Figure 5. Simulation results of source modeling and underwater irradiation characteristics of the optical communication LED array
图 6 光通信系统中光子在水下信道的传播特性
Figure 6. Underwater channel propagation characteristics of photons in the optical communication system
表 1 通信测试结果
Table 1. Communication test results
TMS与ARV间距/m 通信速率/(Mbit/s) 原始BER 17 3.125 1×10−5 15 6.250 1×10−5 
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